Diff: main.cpp

Revision:

29:f51683a6cbbf

Parent:

28:59e8266f4633

Child:

30:bac3b60d6283

--- a/main.cpp	Mon Oct 28 14:27:21 2019 +0000
+++ b/main.cpp	Mon Oct 28 14:40:43 2019 +0000
@@ -180,7 +180,7 @@
 // Check filter stability
 bool checkBQChainStable()
 {
-    bool n_stable = bqc1_notch.stable();
+    bool n_stable = bqc1_notch.stable(); // Check stability of all BQ Chains
     bool hp_stable =  bqc1_high.stable();
     bool l_stable = bqc1_low.stable();
 
@@ -196,7 +196,7 @@
 */
 void sampleSignal()
 {
-    if (sampleNow == true) {
+    if (sampleNow == true) { // This ticker only samples if the sample flag is true, to prevent unnecessary computations
         // Read EMG inputs
         emg1 = emg1_in.read();
         emg2 = emg2_in.read();
@@ -225,7 +225,7 @@
         scope.set(3, emg2_env );
         scope.send();
 
-        if (calibrateNow) {
+        if (calibrateNow == true) { // Only add values to EMG vectors if calibration flag is true
             emg1_cal.push_back(emg1_env); // Add values to calibration vector
             emg1_cal_size = emg1_cal.size();
             emg2_cal.push_back(emg2_env); // Add values to calibration vector
@@ -275,7 +275,7 @@
             emg3_MVC_stdev = getStdev(emg3_cal, emg3_MVC); // Store MVC stdev globally
 
 
-            emg_MVC_cal_done = true;
+            emg_MVC_cal_done = true; // To set up transition guard to operation mode
             break;
         case emg_cal_rest:
             emg1_rest = getMean(emg1_cal); // Store rest EMG globally
@@ -288,7 +288,7 @@
             emg3_rest_stdev = getStdev(emg3_cal, emg3_rest); // Store MVC stdev globally
 
 
-            emg_rest_cal_done = true;
+            emg_rest_cal_done = true; // To set up transition guard to operation mode
             break;
     }
     vector<double>().swap(emg1_cal); // Empty vector to prevent memory overflow
@@ -306,18 +306,23 @@
 
     // Do nothing until end condition is met
 
-    // State transition guard
+    // State transition guard. Possible next states:
+    // 1. emg_cal_MVC   (button1 pressed)
+    // 2. emg_cal_rest  (button2 pressed)
+    // 3. emg_operation (both calibrations have run)
     if ( button1_pressed ) {
-        button1_pressed = false;
-        emg_curr_state = emg_cal_MVC;
-        emg_state_changed = true;
+        button1_pressed = false; // Disable button pressed function until next button press
+        emg_curr_state = emg_cal_MVC; // Set next state
+        emg_state_changed = true; // Enable entry functions
+        
     } else if ( button2_pressed ) {
-        button2_pressed = false;
-        emg_curr_state = emg_cal_rest;
-        emg_state_changed = true;
+        button2_pressed = false; // Disable button pressed function until next button press
+        emg_curr_state = emg_cal_rest; // Set next state
+        emg_state_changed = true; // Enable entry functions
+        
     } else if ( emg_MVC_cal_done && emg_rest_cal_done ) {
-        emg_curr_state = emg_operation;
-        emg_state_changed = true;
+        emg_curr_state = emg_operation; // Set next state
+        emg_state_changed = true; // Enable entry functions
     }
 }
 
@@ -339,8 +344,9 @@
         emg3_cal.reserve(Fs * Tcal);
     }
 
-    // Allemaal dingen doen tot de end conditions true zijn
-
+    // Do nothing until end condition is met
+    
+    // State transition guard
     if ( timerCalibration.read() >= Tcal ) { // After interval Tcal the calibration step is finished
         sampleNow = false; // Disable signal sampling in sampleSignal()
         calibrateNow = false; // Disable calibration sampling
@@ -350,8 +356,6 @@
 
         emg_curr_state = emg_wait; // Set next state
         emg_state_changed = true; // State has changed (to run
-
-        // pc.printf("Calibration step finished");
     }
 }
 
@@ -372,8 +376,8 @@
 
     // Do stuff until end condition is met
     double emg1_norm = emg1_env * emg1_factor; // Normalize EMG signal with calibrated factor
-    double emg2_norm = emg2_env * emg2_factor;
-    double emg3_norm = emg3_env * emg3_factor;
+    double emg2_norm = emg2_env * emg2_factor; // Idem
+    double emg3_norm = emg3_env * emg3_factor; // Idem
 
     // Set normalized EMG output signal (CAN BE MOVED TO EXTERNAL FUNCTION BECAUSE IT IS REPEATED 3 TIMES)
     if ( emg1_norm < emg1_th ) { // If below threshold, emg_out = 0 (ignored)
@@ -479,12 +483,13 @@
     } else {
         led_r = 0; // LED on
     }
-    emg_curr_state = emg_wait;
+    emg_curr_state = emg_wait; // Start off in EMG Wait state
+    button1.fall( &button1Press ); // Change to state MVC calibration on button press
+    button2.fall( &button2Press ); // Change to state rest calibration on button press
 
     tickGlobal.attach( &tickGlobalFunc, Ts );
 
-    button1.fall( &button1Press ); // Run MVC calibration on button press
-    button2.fall( &button2Press ); // Run rest calibration on button press
+
 
     while(true) {